Tool changing robot actuator for shield tunneling

Abstract

The invention provides a tool changing robot actuator suitable for shield tunneling, which includes a hob dismounting mechanism, a tool changing manipulator and an action executing mechanism. The cutter box on the mechanism cutter head is detachably connected, and the tool changing manipulator is set at the execution end of the action actuator, which can switch the state of the hob disassembly mechanism, so that the hob disassembly mechanism and the cutter box can be locked or released. At the same time, the tool changing manipulator can hold the hob and the hob dismounting mechanism as a whole, and move along the tool changing path driven by a multi-degree-of-freedom action actuator. The invention realizes the machine tool change operation in the narrow space of the shield machine, can complete the disassembly and replacement of the hob on the entire surface of the cutter head, completely replaces the traditional manual tool change, improves the tool change efficiency and the overall construction efficiency of the shield machine, and ensures the safety of the shield machine. construction safety.

Description

technical field [0001] The invention relates to the field of shield construction equipment, in particular to a tool changing robot actuator suitable for shield tunnel engineering. Background technique [0002] The shield machine is a special construction machine for tunneling, and has broad application prospects in the construction of tunnels such as subways, railways, highways, and municipalities. As the core component of the shield machine, the hob is likely to cause serious failure in high-intensity operations under complex and changeable geological conditions. If it is not replaced in time, it will increase the overall energy consumption of the shield machine and delay the construction period. An inevitable process in the process. At present, some shield constructions at home and abroad still use manual tool change. The tool change operation is difficult, technically demanding, time-consuming, and risky in high-pressure and narrow working spaces, and may even cause majo...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of high difficulty, low efficiency and high risk of manual tool change in shield tunneling, and to provide a tool-changing robot actuator suitable for shield tunneling, so as to improve the efficiency and efficiency of shield tunneling tool change operations. Safety, improve the degree of automation of shield tunneling construction, and realize shield tunneling construction with fewer people

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